Accelerator pedal malfunction detection and processing method and apparatus

Abstract

The application relates to the field of vehicle safety technology and provides an accelerator pedal fault detection and processing method and device, a safety mechanism of multi-channel parallel output is adopted, the output of an accelerator pedal is set as two parallel sampling voltage signals, the two sampling voltage signals adopt different voltage ranges; during vehicle driving, the state of the accelerator pedal is detected based on the sampling values of the two sampling voltage signals; and corresponding torque output logic is executed according to the state detection result. Through functional safety analysis and safety mechanism design, the application finds out the failure cause and failure mode in driver pedal torque demand calculation and monitors the same, ensures that the vehicle controller correctly calculates the torque demand from the driver, ensures the functional safety level requirement, meanwhile, when a fault occurs, the application can accurately and quickly execute reasonable output logic, avoids unacceptable safety risks, and improves the safety and usability of the vehicle.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle safety detection, in particular to an accelerator pedal fault detection and processing method and device. BACKGROUND

[0002] With the popularization of automobile intelligence and electrification, more and more electronic and electrical systems are integrated on vehicles, and the more complex the electronic and electrical design is, the higher the possibility of electrical failure is, and the safety of the control system is gradually paid more attention to.

[0003] The accelerator pedal on a pure electric vehicle is the input source of the vehicle power, and incorrect pedal position detection or unreasonable processing logic can cause the vehicle to lose power or uncontrollably accelerate unexpectedly, which can have extremely serious consequences for the driver or passengers. Therefore, the safety design of the accelerator pedal is essential, and the accelerator pedal is also subject to stricter requirements in functional safety design.

[0004] In the current electric heavy truck industry, the accelerator pedal only performs voltage detection and signal transmission, and cannot effectively detect its failure mode, and the coverage of fault diagnosis is insufficient, and the signal receiving unit (vehicle controller) has simple verification logic for the two signals sent by the accelerator pedal, and the fault handling and recovery strategy is unreasonable. When the pedal fails, the vehicle will lose power and be unable to recover or will accelerate unexpectedly without being able to detect the fault, which seriously affects the user's experience and safety. SUMMARY

[0005] The present application provides an accelerator pedal fault detection and processing method and device to solve the problem of insufficient fault diagnosis coverage, incorrect detection or processing logic leading to serious consequences for the vehicle, ensuring that the vehicle controller correctly calculates the torque demand and improving safety and usability.

[0006] The present application provides an accelerator pedal fault detection and processing method for a vehicle controller, comprising the following steps:

[0007] A safety mechanism of multi-channel parallel output is adopted, and the output of the accelerator pedal is set as two parallel sampling voltage signals, wherein the two sampling voltage signals adopt different voltage ranges;

[0008] During vehicle driving, the state of the accelerator pedal is detected based on the sampling values of the two sampling voltage signals;

[0009] According to the state detection result, the corresponding torque output logic is executed.

[0010] According to the accelerator pedal fault detection and processing method provided by the present application, the safety mechanism of multi-channel parallel output is obtained according to the vehicle safety design target specified in the safety level.

[0011] The two parallel sampling voltage signals are a first sampling voltage signal and a second sampling voltage signal, wherein the first sampling voltage signal adopts a first voltage range, the second sampling voltage signal adopts a second voltage range, and the first voltage range and the second voltage range are designed to meet a reasonable voltage range specified by a safety level;

[0012] Correspondingly, the safety mechanism with the multi-channel parallel output is used to set the output of the accelerator pedal as the two parallel sampling voltage signals, and the setting specifically includes:

[0013] The two parallel sampling voltage signals are set as a specific correlation within the reasonable voltage range specified by the safety level.

[0014] According to the accelerator pedal fault detection and processing method provided by the application, the specific correlation specifically includes:

[0015] The two parallel sampling voltage signals are set as a multiple relationship within the reasonable voltage range specified by the safety level.

[0016] According to the accelerator pedal fault detection and processing method provided by the application, the specific correlation specifically further includes:

[0017] The two parallel sampling voltage signals are set as a gradient relationship within the reasonable voltage range specified by the safety level.

[0018] According to the accelerator pedal fault detection and processing method provided by the application, the step of detecting the state of the accelerator pedal based on the sampling values of the two sampling voltage signals specifically includes:

[0019] If one of the two sampling voltage signals receives an invalid input signal, or the sampling values of the two sampling voltage signals exceed the corresponding voltage range, it is determined that the input information of the accelerator pedal is invalid.

[0020] If the sampling value of one of the two sampling voltage signals exceeds the corresponding voltage range, and the sampling value of the other sampling voltage signal is within the corresponding voltage range, it is determined that the accelerator pedal is in a first fault state.

[0021] If the sampling values of the two sampling voltage signals are within the corresponding voltage range, the correlation of the two sampling voltage signals is judged.

[0022] If the two sampling voltage signals meet the specific correlation, it is determined that the accelerator pedal is in a normal state.

[0023] In a case where the two sampled voltage signals do not meet the specific correlation, it is determined that the accelerator pedal is in a second fault state.

[0024] According to the accelerator pedal fault detection and processing method provided by the application, the corresponding torque output logic is executed according to the state detection result, and specifically includes the following steps:

[0025] In a case where the input information of the accelerator pedal is invalid, the accelerator pedal is controlled to enter a safety mode, and the output pedal torque is prohibited;

[0026] In a case where the accelerator pedal is in a first fault state, the sampled voltage signal exceeding the corresponding voltage range is determined as an invalid signal, the sampled voltage signal within the corresponding voltage range is determined as a valid signal, the accelerator pedal is controlled to perform a degradation measure, a preset proportion of the sampling value of the valid signal is transformed, and the transformation result is used for pedal torque calculation;

[0027] In a case where the accelerator pedal is in a normal state, any one of the two sampled voltage signals is used for pedal torque calculation;

[0028] In a case where the accelerator pedal is in a second fault state, the accelerator pedal is controlled to perform a degradation measure, the sampled voltage signal with a smaller relative sampling value is used for pedal torque calculation, and the relative sampling value is calculated through the specific correlation.

[0029] According to the accelerator pedal fault detection and processing method provided by the application, after the torque output logic corresponding to the fault state of the accelerator pedal is executed, the input voltage of the accelerator pedal is set to zero and then the normal voltage input is restored, the sampling values of the two sampled voltage signals are re-acquired, and the state of the accelerator pedal is detected based on the sampling values of the two sampled voltage signals.

[0030] In a case where three fault states are continuously detected, the accelerator pedal is controlled to enter a safety mode, and the output pedal torque is prohibited;

[0031] After the vehicle is powered off and then powered on, the state detection of the accelerator pedal is restored.

[0032] The application further provides an accelerator pedal fault detection and processing device for a vehicle controller, which comprises the following modules:

[0033] A parallel output setting module is configured to use a multi-channel parallel output safety mechanism to set the output of the accelerator pedal as two sampled voltage signals in parallel, wherein the two sampled voltage signals use different voltage ranges.

[0034] A state detection module is configured to detect the state of the accelerator pedal based on the sampling values of the two sampled voltage signals during vehicle driving.

[0035] a performing module, configured to perform corresponding torque output logic according to the state detection result.

[0036] The application further provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the accelerator pedal fault detection and processing method according to any one of the above when executing the computer program.

[0037] The application further provides a non-transitory computer readable storage medium, which stores a computer program, and the computer program implements the accelerator pedal fault detection and processing method according to any one of the above when executed by a processor.

[0038] The application further provides a computer program product, which includes a computer program, and the computer program implements the accelerator pedal fault detection and processing method according to any one of the above when executed by a processor.

[0039] The accelerator pedal fault detection and processing method and device provided by the application, by adopting a multi-channel parallel output safety mechanism, sets the output of the accelerator pedal as two parallel sampling voltage signals, wherein the two sampling voltage signals adopt different voltage ranges; during vehicle driving, the state of the accelerator pedal is detected based on the sampling values of the two sampling voltage signals; and according to the state detection result, corresponding torque output logic is executed. Through functional safety analysis and safety mechanism design, the application finds out the failure cause and failure mode in the driver pedal torque demand calculation and monitors the same, ensures that the vehicle controller correctly calculates the torque demand from the driver, and ensures the functional safety level requirement; meanwhile, when a fault occurs, the application can accurately and quickly execute reasonable output logic, avoids unacceptable safety risks, and improves the safety and usability of the vehicle. BRIEF DESCRIPTION OF DRAWINGS

[0040] In order to more clearly illustrate the technical solutions in the application or prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are some embodiments of the application, and for those skilled in the art, other drawings can also be obtained without creative labor.

[0041] Figure 1 is one of the flowcharts of the accelerator pedal fault detection and processing method provided by the application.

[0042] Figure 2 is the second flowchart of the accelerator pedal fault detection and processing method provided by the application.

[0043] Figure 3It is a structural schematic diagram of an accelerator pedal fault detection and processing device provided by the application.

[0044] Figure 4 It is a structural schematic diagram of an electronic device provided by the application. DETAILED DESCRIPTION

[0045] To make the objectives, technical solutions and advantages of the present application clearer, the technical solutions of the present application will be described clearly and completely below with reference to the drawings in the present application. Obviously, the described embodiments are some, but not all, of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0046] The present application will be described in detail below with reference to the drawings in the specification. The specific operation methods in the method embodiments can also be applied to the device embodiments or the system embodiments. In the description of the present application, unless otherwise specified, "at least one" includes one or more. "Multiple" refers to two or more. For example, at least one of A, B and C includes: A alone, B alone, A and B together, A and C together, B and C together, and A, B and C together. In the present application, " / " means or, for example, A / B can mean A or B; "and / or" in this document only describes the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B can mean that A exists alone, A and B exist together, and B exists alone.

[0047] The present application will be described in detail below with reference to the drawings in the specification. The specific operation methods in the method embodiments can also be applied to the device embodiments or the system embodiments. In the description of the present application, unless otherwise specified, "at least one" includes one or more. "Multiple" refers to two or more. For example, at least one of A, B and C includes: A alone, B alone, A and B together, A and C together, B and C together, and A, B and C together. In the present application, " / " means or, for example, A / B can mean A or B; "and / or" in this document only describes the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B can mean that A exists alone, A and B exist together, and B exists alone.

[0048] In some specific embodiments of the present application, as shown in Figure 1 The present application provides an accelerator pedal fault detection and processing method for a vehicle controller, comprising:

[0049] Step 100, using a multi-channel parallel output safety mechanism, setting the output of the accelerator pedal as two parallel sampling voltage signals, wherein the two sampling voltage signals use different voltage ranges;

[0050] Step 200, during vehicle driving, detecting the state of the accelerator pedal based on the sampling values of the two sampling voltage signals;

[0051] Step 300, executing corresponding torque output logic according to the state detection result.

[0052] It should be noted that the existing accelerator pedal fault detection and processing scheme cannot realize state execution, and the accelerator pedal can only perform voltage detection and signal transmission, and cannot effectively detect its failure mode, the fault diagnosis coverage is insufficient, the signal checking logic is simple, the fault processing and recovery strategy is unreasonable, when the pedal fails, the vehicle will lose power and cannot be recovered or cannot detect the fault and appear unexpected acceleration, which seriously affects the user experience and safety.

[0053] Therefore, the present application sets two parallel voltage sampling signals, determines the state of the accelerator pedal according to the sampling values of the voltage sampling signals, and executes different pedal torque output logics according to different accelerator pedal states. The pedal torque output logic can be no pedal torque output, or output a certain proportion of pedal torque. The above setting of the present application finds out the failure cause and failure mode in the driver pedal torque demand calculation through functional safety analysis and safety mechanism design, and monitors it to ensure that the vehicle controller correctly calculates the torque demand from the driver, meets the functional safety level requirement, accurately and quickly executes reasonable torque output, and ensures that there is no unacceptable safety risk, improving the safety and usability of the vehicle.

[0054] In the embodiment, the vehicle controller VCU is the receiver and processing unit of the accelerator pedal signal, and the vehicle controller is provided with a pedal voltage signal diagnosis and processing logic from the functional safety angle.

[0055] The following will be described in combination with Figure 2 The above steps will be described in detail.

[0056] In some possible embodiments of the present application, as Figure 2 The safety mechanism of the multi-channel parallel output is obtained according to the vehicle safety design target specified in the safety level;

[0057] The two parallel sampling voltage signals are a first sampling voltage signal and a second sampling voltage signal, wherein the first sampling voltage signal adopts a first voltage range, the second sampling voltage signal adopts a second voltage range, and the design of the first voltage range and the second voltage range meets the reasonable voltage range specified in the safety level;

[0058] Correspondingly, the safety mechanism of the multi-channel parallel output sets the output of the accelerator pedal as the step of the two parallel sampling voltage signals, specifically including:

[0059] Within the reasonable voltage range specified in the safety level, the two parallel sampling voltage signals are set to a specific correlation.

[0060] Specifically, the embodiment provides an implementation of parallel two-way sampling voltage signals, a safety mechanism of multi-channel parallel output is set through vehicle safety design targets defined in a safety level, a reasonable voltage range of an accelerator pedal output voltage is obtained, and on this basis, the parallel two-way sampling voltage signals are set to a specific correlation relationship. Here, the specific correlation relationship is pre-set according to an actual scene.

[0061] In a possible embodiment, the design of the two-way voltage needs to meet ASIL B, and the redundant design meets ASIL C, that is, the design of the two-way voltage output and the check logic of the VCU meet ASIL C.

[0062] It can be understood that the detection result of the accelerator pedal is an input source of torque, and from the perspective of functional safety, design requirements need to be proposed for the accelerator pedal.

[0063] It is worth noting that the safety level of the functional safety target 'avoid unintended acceleration' is ASIL C, a safety mechanism is derived from the safety target, and in the functional safety design, the detection unit, the processing unit and the execution unit all need to meet the level of the safety target.

[0064] In a possible embodiment, from the perspective of hardware safety, a safety mechanism of multi-channel parallel output is adopted, the output of the two-way sampling voltage is set, and different reasonable voltage ranges are adopted.

[0065] At the same time, in order to improve the fault diagnosis coverage, a safety mechanism of voltage or current control is adopted, fault diagnosis is performed on the input of the pedal sensor power supply, and an invalid position signal is output when the input voltage is invalid.

[0066] Further, the design of the accelerator pedal needs to meet the random hardware failure metric index corresponding to the functional safety level, and the requirement of ASIL C for hardware is not more than 100 FIT.

[0067] In a possible embodiment, different voltage ranges can be set, for example, the first-way sampling voltage signal adopts a voltage range of 0-5V, and the second-way voltage signal adopts a voltage range of 0-10V.

[0068] In some possible implementation manners of the present application, the specific correlation relationship specifically includes:

[0069] The parallel two-way sampling voltage signals are set to a multiple relationship within the reasonable voltage range defined in the safety level.

[0070] Specifically, the embodiment provides an implementation of a specific correlation relationship, and the specific correlation relationship can set the two-way sampling voltage signals to a multiple relationship, that is, in the case of normal output of the accelerator pedal, the sampling values of the two-way sampling voltage signals should be in a multiple relationship.

[0071] For example, in the case of normal output of the accelerator pedal, if the sampling values of the two sampling voltage signals are set in a 2 times relationship, when the sampling value of one voltage signal is 3V, the sampling value of the other voltage signal should be 6V.

[0072] In some possible embodiments of the present application, the specific correlation relationship further includes:

[0073] In the reasonable voltage range specified by the security level, the two parallel sampling voltage signals are set in a gradient relationship.

[0074] Specifically, the embodiment provides another implementation of the specific correlation relationship, which sets the two sampling voltage signals in a gradient relationship, i.e., in the case of normal output of the accelerator pedal, the sampling values of the two sampling voltage signals should be in a gradient relationship.

[0075] For example, in the case of normal output of the accelerator pedal, if the sampling values of the two sampling voltage signals are set in a gradient relationship, when the sampling value of one voltage signal is 3V, the sampling value of the other voltage signal should be 1 / 3V.

[0076] It can be understood that the present application fully considers the case that the two sampling voltage signals are in different correlation relationships, and the reasonable voltage range of the voltage signal used by the user is different under different correlation relationships. Therefore, the subsequent state detection method of the accelerator pedal is also different according to the sampling values of the two voltage signals. Therefore, the running state of the accelerator pedal itself needs to be detected and processed according to the special setting of the user, so as to more accurately locate the node where the fault occurs and improve the efficiency and accuracy of fault detection.

[0077] It should be noted that the correlation relationship mentioned in the embodiment includes not only the multiple relationship and the gradient relationship, but also other preset specific relationships, such as equal slope and addition of a fixed value. For example, one of the two is 1V and the other is 5V, and at the next moment, one is 2V and the other is 4V. For example, one is rising by 1 unit and the other is falling by 1 unit. The setting of different correlation relationships can meet the different needs of users and improve the user experience.

[0078] In some possible embodiments of the present application, the step of detecting the state of the accelerator pedal based on the sampling values of the two sampling voltage signals specifically includes:

[0079] If one of the two sampling voltage signals receives an invalid input signal, or the sampling values of the two sampling voltage signals exceed the corresponding voltage range, it is determined that the input information of the accelerator pedal is invalid.

[0080] If the sampling value of one of the two sampling voltage signals exceeds the corresponding voltage range, and the sampling value of the other sampling voltage signal is within the corresponding voltage range, it is determined that the accelerator pedal is in a first fault state;

[0081] If the sampling values of the two sampling voltage signals are both within the corresponding voltage range, the correlation of the two sampling voltage signals is determined;

[0082] In the case where the two sampling voltage signals meet the specific correlation relationship, it is determined that the accelerator pedal is in a normal state;

[0083] In the case where the two sampling voltage signals do not meet the specific correlation relationship, it is determined that the accelerator pedal is in a second fault state.

[0084] Specifically, the embodiment provides an implementation for detecting the state of an accelerator pedal. By analyzing two sampling values, the state of the accelerator pedal is determined according to the analysis result.

[0085] In possible embodiments, the VCU needs to ensure the rationality of each voltage signal, and a safety mechanism of the effective range of the sensor is adopted. If invalid sensor information is received, or both signals exceed the reasonable voltage range, it is determined that the pedal input information is invalid. If only one signal exceeds the reasonable voltage range, it is determined that this voltage signal is invalid, and a degradation measure is performed. At this time, it is determined that the accelerator pedal is in a fault state, which can be defined as a first fault state. If both voltage signals are within the reasonable range, it cannot be directly determined that the accelerator pedal is in a normal state, and a safety mechanism of sensor correlation needs to be further adopted to determine the correlation of the two voltage inputs. On this basis, it is necessary to determine whether the two sampling voltage signals meet a specific correlation relationship. If the two sampling voltage signals meet the specific correlation relationship, it is determined that the pedal is in a normal state. Otherwise, it is determined that the pedal is in a fault state.

[0086] In possible embodiments, for the correlation determination of the two voltage inputs, if the preset specific correlation relationship is a multiple relationship, the voltage signal needs to be converted by a ratio, and the difference between the converted voltage signal and the other voltage signal is compared. If the difference is greater than a preset range, it is determined that the pedal test is inconsistent, and at this time, it is considered that the accelerator pedal is in a fault state.

[0087] In possible embodiments, if the preset specific correlation relationship is a gradient relationship, the voltage signal needs to be converted by a gradient relationship, and the difference between the converted voltage signal and the other voltage signal is compared. If the difference is greater than a preset range, it is determined that the pedal test is inconsistent, and at this time, it is considered that the accelerator pedal is in a fault state.

[0088] In some possible embodiments of the present application, the step of executing corresponding torque output logic according to the state detection result specifically includes:

[0089] In the case that the input information of the accelerator pedal is invalid, the accelerator pedal is controlled to enter a safety mode, and the output of the pedal torque is prohibited.

[0090] In the case that the accelerator pedal is in the first fault state, the sampled voltage signal exceeding the corresponding voltage range is determined to be an invalid signal, the sampled voltage signal within the corresponding voltage range is determined to be a valid signal, the accelerator pedal is controlled to execute a degradation measure, a preset proportion of the sampling value of the valid signal is transformed, and the transformation result is used for pedal torque calculation.

[0091] In the case that the accelerator pedal is in the normal state, any one of the sampled voltage signals is used for pedal torque calculation.

[0092] In the case that the accelerator pedal is in the second fault state, the accelerator pedal is controlled to execute a degradation measure, the sampled voltage signal with a smaller relative sampling value is used for pedal torque calculation, and the relative sampling value is calculated through the specific correlation.

[0093] Specifically, the embodiment provides an implementation of torque output logic. According to the sampling value of the acquired sampled voltage signal and a preset specific correlation, the running state of the accelerator pedal is determined, and then in the running state, the pedal torque is calculated in combination with the sampling value of the voltage signal. Subsequently, the torque output is performed according to the pedal torque calculation result, so as to ensure that the torque demand from the driver is correctly calculated by the vehicle controller, to ensure the functional safety level requirement, and to improve the safety and usability of the vehicle.

[0094] In possible embodiments, in the case that the input information of the accelerator pedal is invalid, the accelerator pedal is controlled to enter a safety mode, and the output of the pedal torque is prohibited.

[0095] It is worth noting that the embodiment first detects the input information of the accelerator pedal to determine whether the input of the accelerator pedal is valid, that is, the input excitation signal of the two sampled voltage signals is determined, and the subsequent determination is based on the valid input excitation information. If the input excitation signal is invalid, the sampling value of the voltage sampling signal is also invalid. At this time, the accurate state of the accelerator pedal cannot be accurately determined, and at this time, the output of the pedal torque of the accelerator pedal should be prohibited to ensure the safety of the vehicle.

[0096] In a possible embodiment, when the accelerator pedal is in a first fault state, if the sampled value of the first voltage signal exceeds the first voltage range, while the sampled value of the second voltage signal is within the corresponding second voltage range, then the first voltage signal is determined to be an invalid signal, and the second voltage signal is a valid signal. In this case, according to the actual vehicle design requirements, the torque corresponding to the valid signal can be transformed according to a preset ratio, and the transformed torque can be used for pedal torque output. For example, in this embodiment, if the preset ratio for the acceleration phase is set to 70% and the preset ratio for the deceleration phase is set to 50%, then 70% of the second voltage signal is used for torque calculation during the acceleration phase, and 50% of the second voltage signal is used for torque calculation during the deceleration phase.

[0097] In a possible embodiment, when the accelerator pedal is in a normal state, if both sampled voltage signals are within their corresponding voltage ranges, i.e., the first sampled voltage signal is within the first voltage range and the second sampled voltage signal is within the second voltage range, and the first sampled voltage signal and the second sampled voltage signal conform to a preset specific correlation relationship, then one sampled voltage signal can be selected for pedal torque calculation, and the pedal torque corresponding to the sampled voltage signal can be output.

[0098] In a possible embodiment, when the accelerator pedal is in a second fault state, if both sampled voltage signals are within their respective voltage ranges, i.e., the first sampled voltage signal is within the first voltage range and the second sampled voltage signal is within the second voltage range, but the first sampled voltage signal and the second sampled voltage signal do not conform to a preset specific correlation, then it is impossible to determine which sampled voltage signal is the accurate voltage output signal. In order to ensure the safety of the vehicle, the torque corresponding to the sampled voltage signal with the relatively smaller sample value can be used for output.

[0099] In this embodiment, the relative sampling value is calculated through a preset specific correlation relationship. For example, if the two sampling voltage signals adopt a multiple relationship, the voltage range of the first sampling voltage signal is 0-5V and the sampling value is 3V, and the voltage range of the second sampling voltage signal is 0-10V and the sampling value is 5V, then the relative sampling value of the first sampling voltage signal is 2×3V=6V. The 6V and 5V are compared, and the pedal torque is calculated according to the sampling value of 5V.

[0100] The above-described settings in this embodiment, through a functional safety mechanism diagnostic logic and fault handling logic, ensure that the vehicle controller correctly calculates the torque demand from the driver, thereby ensuring that the vehicle correctly responds to the driver's throttle demand, avoiding uncontrollable serious safety hazards such as unexpected acceleration, and improving product safety.

[0101] In some possible embodiments of the present application, after the torque output logic corresponding to the failure state of the accelerator pedal is executed, the input voltage of the accelerator pedal is set to zero and then the normal voltage input is restored, the sampling values of the two sampling voltage signals are re-acquired, and the state of the accelerator pedal is detected based on the sampling values of the two sampling voltage signals.

[0102] In the case of continuously detecting three failure states, the accelerator pedal is controlled to enter a safety mode, and the pedal torque is prohibited from being output.

[0103] After the vehicle is powered off and then powered on again, the state detection of the accelerator pedal is restored.

[0104] Specifically, the embodiment provides an implementation in which the accelerator pedal is safely restored to a normal state after a failure disappears. If the pedal state is a failure state, after the torque output logic corresponding to the failure state is executed, it cannot be directly considered that the pedal state is restored to the normal state, but the sampling voltage signal needs to be detected again after the input voltage of the accelerator pedal is set to zero (i.e., the pedal is released). In the case where the vehicle remains in the powered-on state, if the state detection result is a failure state three times, after the failure state is detected for the third time, the accelerator pedal is controlled to enter a safety mode, and the pedal torque is prohibited from being output, until the vehicle is powered off and then powered on again to detect the two sampling voltage signals again.

[0105] Specifically, the functional safety design needs to ensure the availability of the vehicle. When a failure disappears, the pedal voltage signal needs to pass through a zero point, i.e., the driver completely releases the pedal and then steps on it again, and then the pedal input signal is re-verified and torque calculation is performed. If there is no failure, the torque is normally output. After three failures are determined in the same driving cycle, the vehicle enters a safety state, and the torque is prohibited from being output. The vehicle is hibernated and then restored.

[0106] The above setting of the embodiment ensures the safety of the vehicle while meeting the reliability requirements of the vehicle, avoids the situation that the vehicle cannot be started due to an occasional failure, and improves the practicality of the product.

[0107] The accelerator pedal failure detection and processing method provided by the embodiment of the present application finds out the failure causes and failure modes in the driver pedal torque demand calculation through functional safety analysis and safety mechanism design, monitors the failure causes and failure modes, ensures that the vehicle controller correctly calculates the torque demand from the driver, and ensures the functional safety level requirements. Meanwhile, when a failure occurs, a reasonable safety state can be accurately and quickly executed, so that unacceptable safety risks are avoided, and the vehicle is safely restored to the normal state after the failure disappears, thereby improving the safety and availability of the vehicle.

[0108] The accelerator pedal fault detection and processing device provided by the present invention is described below. The accelerator pedal fault detection and processing device described below can be referred to in correspondence with the accelerator pedal fault detection and processing method described above.

[0109] In some specific embodiments of the present invention, such as Figure 3 As shown, this solution provides an accelerator pedal fault detection and handling device for a vehicle controller, including:

[0110] The parallel output setting module 31 is used to adopt a multi-channel parallel output safety mechanism to set the output of the accelerator pedal to two parallel sampling voltage signals, wherein the two sampling voltage signals adopt different voltage ranges.

[0111] The state detection module 32 is used to detect the state of the accelerator pedal based on the sampled values ​​of two sampling voltage signals during vehicle operation.

[0112] The execution module 33 is used to execute the corresponding torque output logic based on the state detection result.

[0113] Optionally, the safety mechanism for the multi-channel parallel output is derived from the vehicle safety design objectives specified in safety level ASIL C;

[0114] The two parallel sampling voltage signals are a first sampling voltage signal and a second sampling voltage signal, wherein the first sampling voltage signal adopts a first voltage range and the second sampling voltage signal adopts a second voltage range, and the design of the first voltage range and the second voltage range meets the reasonable voltage range specified by the safety level.

[0115] Correspondingly, the safety mechanism employing multi-channel parallel output, which sets the accelerator pedal output to two parallel sampled voltage signals, specifically includes:

[0116] Within the reasonable voltage range specified by the safety level ASIL C, the two parallel sampling voltage signals are set to a specific correlation.

[0117] Specifically, this embodiment provides an implementation method for parallel two-channel sampling voltage signals.

[0118] Optionally, the specific association relationship includes:

[0119] Within the reasonable voltage range specified in the ASIL C safety level, the two parallel sampling voltage signals are set to a multiple relationship.

[0120] Specifically, this embodiment provides an implementation method for a specific association relationship.

[0121] Optionally, the specific correlation relationship further includes:

[0122] In a reasonable voltage range specified by the safety level ASIL C, the two parallel sampling voltage signals are set in a gradient relationship.

[0123] Specifically, the embodiment provides another implementation of a specific correlation relationship.

[0124] Optionally, based on the sampling values of the two sampling voltage signals, the step of detecting the state of the accelerator pedal specifically includes:

[0125] If one of the two sampling voltage signals receives an invalid input signal, or the sampling values of the two sampling voltage signals exceed the corresponding voltage range, it is determined that the input information of the accelerator pedal is invalid;

[0126] If the sampling value of one of the two sampling voltage signals exceeds the corresponding voltage range, and the sampling value of the other sampling voltage signal is within the corresponding voltage range, it is determined that the accelerator pedal is in a first fault state;

[0127] If the sampling values of the two sampling voltage signals are within the corresponding voltage range, the correlation of the two sampling voltage signals is judged;

[0128] In the case that the two sampling voltage signals meet the specific correlation relationship, it is determined that the accelerator pedal is in a normal state;

[0129] In the case that the two sampling voltage signals do not meet the specific correlation relationship, it is determined that the accelerator pedal is in a second fault state.

[0130] Specifically, the embodiment provides an implementation of detecting the state of an accelerator pedal.

[0131] Optionally, according to the state detection result, the step of executing the corresponding torque output logic specifically includes:

[0132] In the case that the input information of the accelerator pedal is invalid, the accelerator pedal is controlled to enter a safety mode, and the output of the pedal torque is prohibited;

[0133] In the case that the accelerator pedal is in a first fault state, the sampling voltage signal exceeding the corresponding voltage range is determined as an invalid signal, and the sampling voltage signal within the corresponding voltage range is determined as a valid signal, the accelerator pedal is controlled to execute a degradation measure, the sampling value of the valid signal is transformed by a preset ratio, and the transformation result is used for pedal torque calculation;

[0134] In the case that the accelerator pedal is in a normal state, any one of the sampling voltage signals is used for pedal torque calculation;

[0135] When the accelerator pedal is in a second fault state, the accelerator pedal is controlled to perform a degradation measure, and the pedal torque is calculated using a sampling voltage signal with a relatively smaller sampling value, which is obtained through the specific correlation relationship.

[0136] Specifically, this embodiment provides an implementation method for torque output logic.

[0137] Optionally, after the torque output logic corresponding to the fault state of the accelerator pedal is executed, the input voltage of the accelerator pedal is set to zero and the normal voltage input is restored. The sampling values ​​of the two sampling voltage signals are re-acquired, and the state of the accelerator pedal is detected based on the sampling values ​​of the two sampling voltage signals.

[0138] If a fault condition is detected three times consecutively, the accelerator pedal is controlled to enter a safety mode, and pedal torque is prohibited from being output.

[0139] After the vehicle is powered off and then powered on again, the status detection of the accelerator pedal is resumed.

[0140] Specifically, this embodiment provides an implementation method in which the accelerator pedal is safely restored to its normal state after the fault disappears.

[0141] The accelerator pedal fault detection and processing device provided in this embodiment of the invention has a similar implementation principle and beneficial effects to the accelerator pedal fault detection and processing method shown in the above embodiments. Please refer to the implementation principle and beneficial effects of the accelerator pedal fault detection and processing method shown in the above embodiments, which will not be repeated here.

[0142] Figure 4 An example is a schematic diagram of the physical structure of an electronic device, such as... Figure 4 As shown, the electronic device may include a processor 410, a communications interface 420, a memory 430, and a communication bus 440. The processor 410, communications interface 420, and memory 430 communicate with each other via the communication bus 440. The processor 410 can call logical instructions in the memory 430 to execute an accelerator pedal fault detection and handling method. This method includes: employing a multi-channel parallel output safety mechanism to set the accelerator pedal output as two parallel sampled voltage signals, wherein the two sampled voltage signals use different voltage ranges; during vehicle operation, detecting the state of the accelerator pedal based on the sampled values ​​of the two sampled voltage signals; and executing corresponding torque output logic based on the state detection result.

[0143] In addition, the logic instructions in the memory 430 described above can be implemented in the form of a software function unit and sold or used as an independent product, and can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application essentially or the parts that contribute to the prior art or parts of the technical solutions can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a plurality of instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the method described in various embodiments of the present application. The foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various media that can store program codes.

[0144] In another aspect, the present application also provides a computer program product, which comprises a computer program, the computer program can be stored on a non-transitory computer readable storage medium, and the computer program is executed by a processor, so that the computer can execute the accelerator pedal fault detection and processing method provided by the above-mentioned method, which comprises: using a multi-channel parallel output safety mechanism, setting the output of the accelerator pedal as two parallel sampling voltage signals, wherein the two sampling voltage signals use different voltage ranges; during vehicle driving, detecting the state of the accelerator pedal based on the sampling values of the two sampling voltage signals; and executing corresponding torque output logic according to the state detection result.

[0145] In another aspect, the present application also provides a non-transitory computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement the accelerator pedal fault detection and processing method provided by the above-mentioned method, which comprises: using a multi-channel parallel output safety mechanism, setting the output of the accelerator pedal as two parallel sampling voltage signals, wherein the two sampling voltage signals use different voltage ranges; during vehicle driving, detecting the state of the accelerator pedal based on the sampling values of the two sampling voltage signals; and executing corresponding torque output logic according to the state detection result.

[0146] The device embodiments described above are only schematic, wherein the units described as separate components can or can not be physically separate, and the components displayed as units can or can not be physical units, i.e. they can be located in one place, or distributed on a plurality of network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the present embodiment. Those skilled in the art can understand and implement without creative labor.

[0147] Those skilled in the art can clearly understand the implementation of the various embodiments by means of software and necessary general hardware platforms through the description of the above embodiments, and of course, the embodiments can also be implemented by hardware. Based on such understanding, the above technical solutions can be embodied in the form of a software product, and the computer software product can be stored in a computer readable storage medium, such as a ROM / RAM, a magnetic disk, an optical disk, etc., and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the method described in each embodiment or some parts of the embodiment.

[0148] Finally, it should be noted that: the above examples are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing examples, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing examples, or make equivalent replacement for some technical features thereof; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for detecting and handling accelerator pedal malfunctions, characterized in that, For use in vehicle controllers, including: A multi-channel parallel output safety mechanism is adopted, which sets the output of the accelerator pedal to two parallel sampling voltage signals, wherein the two sampling voltage signals use different voltage ranges; During vehicle operation, the state of the accelerator pedal is detected based on the sampled values ​​of two sampling voltage signals; Based on the status detection results, execute the corresponding torque output logic; The step of detecting the state of the accelerator pedal based on the sampled values ​​of the two sampled voltage signals specifically includes: If one of the two sampled voltage signals receives an invalid input signal, or if the sampled values ​​of both sampled voltage signals exceed the corresponding voltage range, then the input information of the accelerator pedal is determined to be invalid. If, in one of the two sampled voltage signals, the sampled value of one sampled voltage signal exceeds the corresponding voltage range, while the sampled value of the other sampled voltage signal is within the corresponding voltage range, then the accelerator pedal is determined to be in the first fault state. If the sampled values ​​of both sampling voltage signals are within the corresponding voltage range, then the correlation between the two sampling voltage signals is determined. If the two sampled voltage signals meet a specific correlation, the accelerator pedal is determined to be in a normal state; wherein, within the reasonable voltage range specified by the safety level, the two parallel sampled voltage signals are set to a specific correlation. If the two sampled voltage signals do not conform to the specific correlation, the accelerator pedal is determined to be in a second fault state.

2. The accelerator pedal fault detection and handling method according to claim 1, characterized in that, The safety mechanism for multi-channel parallel output is derived from the vehicle safety design objectives specified in the safety level. The two parallel sampling voltage signals are a first sampling voltage signal and a second sampling voltage signal, wherein the first sampling voltage signal adopts a first voltage range and the second sampling voltage signal adopts a second voltage range. The design of the first voltage range and the second voltage range meets the reasonable voltage range specified by the safety level.

3. The accelerator pedal fault detection and handling method according to claim 2, characterized in that, The specific association relationship includes: Within the reasonable voltage range specified by the safety level, the two parallel sampling voltage signals are set to a multiple relationship.

4. The accelerator pedal fault detection and handling method according to claim 2, characterized in that, The specific association relationship also includes: Within the reasonable voltage range specified by the safety level, the two parallel sampling voltage signals are set to a gradient relationship.

5. The accelerator pedal fault detection and handling method according to claim 4, characterized in that, Based on the state detection results, the corresponding torque output logic is executed, specifically including: If the input information of the accelerator pedal is invalid, the accelerator pedal is controlled to enter a safety mode, and the output of pedal torque is prohibited. When the accelerator pedal is in a first fault state, the sampled voltage signal exceeding the corresponding voltage range is determined to be an invalid signal, and the sampled voltage signal within the corresponding voltage range is a valid signal. The accelerator pedal is controlled to perform a degradation measure, and the sampled value of the valid signal is transformed by a preset ratio. The transformation result is used for pedal torque calculation. When the accelerator pedal is in a normal state, the pedal torque is calculated using any sampling voltage signal. When the accelerator pedal is in a second fault state, the accelerator pedal is controlled to perform a degradation measure, and the pedal torque is calculated using a sampling voltage signal with a relatively smaller sampling value, which is obtained through the specific correlation relationship.

6. The method for detecting and handling accelerator pedal malfunctions according to any one of claims 1-5, characterized in that, After the torque output logic corresponding to the fault state of the accelerator pedal is executed, the input voltage of the accelerator pedal is set to zero and the normal voltage input is restored. The sampling values ​​of the two sampling voltage signals are re-acquired, and the state of the accelerator pedal is detected based on the sampling values ​​of the two sampling voltage signals. If a fault condition is detected three times consecutively, the accelerator pedal is controlled to enter a safety mode, and pedal torque is prohibited from being output. After the vehicle is powered off and then powered on again, the status detection of the accelerator pedal is resumed.

7. A device for detecting and handling accelerator pedal malfunctions, characterized in that, For use in vehicle controllers, including: The parallel output setting module is used to employ a multi-channel parallel output safety mechanism to set the accelerator pedal output to two parallel sampled voltage signals, wherein the two sampled voltage signals use different voltage ranges. The status detection module is used to detect the status of the accelerator pedal based on the sampled values ​​of two sampling voltage signals during vehicle operation. The execution module is used to execute the corresponding torque output logic based on the status detection results; The state detection module is specifically used to determine that the input information of the accelerator pedal is invalid if one of the two sampled voltage signals receives an invalid input signal, or if the sampled values ​​of both sampled voltage signals exceed the corresponding voltage range; if one of the two sampled voltage signals has a sampled value exceeding the corresponding voltage range while the sampled value of the other sampled voltage signal is within the corresponding voltage range, then the accelerator pedal is determined to be in a first fault state; if the sampled values ​​of both sampled voltage signals are within the corresponding voltage range, then a correlation judgment is performed on the two sampled voltage signals; if the two sampled voltage signals meet a specific correlation relationship, then the accelerator pedal is determined to be in a normal state; wherein, within a reasonable voltage range specified by the safety level, the two parallel sampled voltage signals are set to a specific correlation relationship; if the two sampled voltage signals do not meet the specific correlation relationship, then the accelerator pedal is determined to be in a second fault state.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the accelerator pedal fault detection and handling method as described in any one of claims 1 to 6.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the accelerator pedal fault detection and handling method as described in any one of claims 1 to 6.

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